JPH06311775A - Torque measuring method and equipment and torque controller and dynamometer using the former - Google Patents

Abstract

PURPOSE:To obtain a torque measuring method and its equipment and a torque controller and a dynamometer using the former capable of accurately calculating an effective torque of a motor, of performing accurate torque control of the motor based on the calculated values of said torque and of giving a load with an accurate torque to a target to be measured. CONSTITUTION:A torque arithmetic circuit 10 calculates the number of revolutions N of a motor, an induced voltage E of the armature of the motor and the torque of a motor 7 based on measured values by resolver 61 or the like. A loss memory table 11 stores, in the form of a three-dimensional table, the torque-converted value Ttoss of a loss which was measured in advance with the induced voltage E and the number of revolutions of the armature of the motor as parameters at constant intervals. A subtraction circuit 12 subtracts the torque-converted value TLOSS of said loss input from the loss memory table 1, from the torque calculated by the torque arithmetic circuit 10 and then corrects it. A torque control circuit 13 torque-controls the motor based on the set point of torque and torque value after correction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention calculates a torque, corrects the torque based on the rotation speed of the motor and the induced voltage of the armature, and based on this value, controls the torque and speed of the motor. The present invention relates to a torque measuring method and a controlling method for controlling, and a dynamometer using these.

[0002]

2. Description of the Related Art Measuring the rotational force (torque) of a motor,
The following is known as a method and apparatus for controlling the torque of the motor based on this information. FIG. 8 is a diagram showing the configuration of a conventional torque control device 9 that controls the torque of a DC motor. FIG. 9 is a diagram showing the relationship between the rotation speed ω of the DC motor used to correct the calculated torque value and the loss value T _{LOSS in} the torque control device 9.

The DC motor to be controlled is provided with means for measuring angular velocity, armature induced voltage, current, etc. (none of which are shown), and the torque control device 9 measures these values. Then, the torque is calculated and the DC motor is controlled. The outline of the operation of the torque control device 9 is as follows.

The torque calculation circuit 91 calculates the number of rotations per unit time based on the rotation angle of the DC motor, and further calculates the induced voltage of the armature from this number of rotations and the terminal voltage of the armature, Calculate the DC motor torque based on these values and the armature current.

Under the control of the torque calculation circuit 91, the loss data storage table 94 reads the loss value T _LOSS corresponding to the DC motor speed from the loss data storage table 91 and inputs it to the subtraction circuit 92. Subtraction circuit 92
Calculates the effective torque of the DC motor by subtracting this loss value from the calculation result of the torque and performing correction. The torque control circuit 93 controls the DC motor based on the calculated torque value.

Here, the loss value T _LOSS stored in the loss data storage table 94 is stored as a function corresponding to this rotation speed with the rotation speed ω as a parameter.
The relationship between the rotation speed ω of this motor and the loss value T _LOSS is
For example, as shown in FIG.

As described above, the effective torque value of the motor is calculated by the torque control device 9, and based on this torque value, a DC motor is generated through the torque control circuit 93, for example, using a thyristor Leonard circuit or the like. By appropriately controlling the voltage value of the supplied power, it is possible to maintain the torque of the DC motor at a predetermined value.

That is, when the torque of the DC motor becomes smaller than a predetermined value, the voltage value of the electric power supplied to the DC motor is increased to increase the torque, and conversely, when the torque becomes larger than the predetermined value. Keeps the torque constant by performing control to reduce the voltage value of the electric power supplied to the DC motor to reduce the torque.

[0009]

The loss T _LOSS used to calculate the effective torque of the motor has conventionally been treated as a function of the rotational speed ω of the motor, as described above. However, as described above, at least the hysteresis loss of the iron loss is not a function of the rotation speed of the motor, and therefore the loss T _LOSS cannot be treated as a function of only the rotation speed in the actual operation of the motor.

That is, the relationship between the field current and the field magnetic flux density, which is one of the causes of the hysteresis loss, has a hysteresis as shown in FIG. 10, for example. Further, the field current is not constant due to armature reaction and fluctuations in the field power supply. Therefore, the relationship between the field current and the field magnetic flux density moves on this hysteresis loop.
Even when the field currents of the motor are the same, the field magnetic flux density cannot be uniquely obtained within the range where this hysteresis occurs.

Here, the loss T _LOSS is mainly caused by iron loss and mechanical loss, of which iron loss is caused by hysteresis loss due to hysteresis of field current and field magnetic flux density and eddy current loss.

Therefore, when iron loss is calculated as a function of only the number of rotations of the motor and correction is performed as in the conventional case,
There is a problem that the effective motor torque cannot be calculated accurately.

Further, there is a problem that the effective torque of the motor cannot be accurately obtained, and accurate torque control cannot be performed on the motor. Further, in a dynamometer that performs torque control of such a motor and applies a load of a predetermined torque value to an object to be measured, such as an automobile, the load applied to the automobile to be measured is not accurate, so that the fuel consumption is measured. There is a problem that an error will occur in the result.

The present invention has been made in view of the problems of the prior art described above, and it is possible to calculate the effective torque of the motor more accurately, and based on the calculated value of the torque. Provided are a torque measuring method capable of accurately and accurately controlling the torque of a motor and applying an accurate torque load to an object to be measured, a device therefor, a torque control device using the same, and a dynamometer. The purpose is to

[0015]

In order to achieve the above-mentioned object, a torque measuring method of the present invention measures a current and a terminal voltage of an armature of an operating motor, and induces the armature based on these. The voltage is calculated, the rotation angle of the motor is measured, the rotation speed is calculated, the torque of the motor is calculated based on the induced voltage and the rotation speed, and the torque corresponding to the induced voltage and the rotation speed is calculated. The torque conversion value of the motor loss calculated in advance is subtracted from the calculated torque to correct the torque.

The torque conversion value of the loss is obtained by rotating the motor at a plurality of predetermined rotation speeds, measuring the current and terminal voltage of the armature at each rotation speed, and based on these, measuring the armature. Is calculated based on the induced voltage and the predetermined rotation speed, stored in association with the induced voltage and the rotation speed, the induced voltage when calculating the torque conversion value of the loss The setting of, comparing the predetermined voltage and the terminal voltage of the armature,
This is performed by weakening the field current when the terminal voltage of the armature reaches the set voltage, and the induced voltage of the armature of the motor in operation, and the rotation speed, or one of them is stored. If it does not match the stored torque conversion value of the loss, the induced voltage of the armature of the motor in operation, and the torque conversion value of the loss corresponding to the rotation speed are functioned. It is characterized by interpolating.

Further, the torque measuring device of the present invention comprises a measuring means for measuring the current of the armature of the motor in operation, the terminal voltage of the armature, and the rotation angle of the motor, and the current of the armature and the measuring means. Calculating means for calculating the induced voltage of the armature based on the terminal voltage and calculating the rotation speed of the motor based on the rotation angle, and calculating the torque of the motor based on the induced voltage and the rotation speed And a correction unit that subtracts a torque conversion value of the motor loss calculated in advance corresponding to the induced voltage and the rotation speed from the calculated torque to correct the torque.

Further, the motor further comprises a rotation speed control means for rotating the motor at a predetermined rotation speed and a table, and the rotation speed control means causes the motor to rotate at a plurality of predetermined rotation speeds. The measurement means measures the current and the terminal voltage of the armature in the number, based on the values of the current and the terminal voltage of the armature, the calculation means calculates the induced voltage of the armature, the induced voltage and The torque conversion value of the loss is calculated based on the predetermined rotation speed, and the torque conversion value of the loss is stored in the table in association with the induced voltage and each rotation speed. To do.

Further, a predetermined set voltage is compared with the terminal voltage of the armature, and when the terminal voltage of the armature reaches the set voltage, the field current of the motor is weakened to set the induced voltage. An induced voltage setting means is further included, and the induced voltage setting means sets the induced voltage when calculating the torque conversion value of the loss.

Further, the torque calculation means or the table is used when the induced voltage of the motor in operation and / or the rotation speed do not match the value stored in the table. The torque conversion value of the loss corresponding to the induced voltage and the rotation speed of the operating motor is functionally interpolated based on the torque conversion value of the loss stored in.

Further, the torque control device of the present invention comprises a measuring means for measuring the armature current of the motor in operation, the terminal voltage of the armature, and the rotation angle of the motor, and the current of the armature and Calculating means for calculating the induced voltage of the armature based on the terminal voltage and calculating the rotation speed of the motor based on the rotation angle, and calculating the torque of the motor based on the induced voltage and the rotation speed Torque calculating means, correction means for subtracting a torque conversion value of the motor loss calculated in advance corresponding to the induced voltage and the rotational speed from the calculated torque, and correcting the corrected torque. Based on the above, the motor control means performs speed control and / or torque control on the basis of the motor.

Further, the dynamometer of the present invention comprises a measuring means for measuring the armature current of the motor in operation, the terminal voltage of the armature, and the rotation angle of the motor, and the current and terminal of the armature. Calculating means for calculating the induced voltage of the armature based on the voltage and calculating the rotational speed of the motor based on the rotation angle; and calculating the torque of the motor based on the induced voltage and the rotational speed. Torque calculation means, correction means for subtracting a torque conversion value of the motor loss calculated in advance corresponding to the induced voltage and the rotational speed from the calculated torque to correct, and based on the corrected torque Motor control means for performing speed control and / or torque control for the motor, and speed control and torque control for the motor Or, either perform one, and means for applying a load to be measured.

[0023]

The torque of the motor is calculated based on the induced voltage of the armature, the current of the armature, and the rotation speed, and the loss value corresponding to the rotation speed of the motor and the induced voltage of the armature is calculated. An accurate effective torque value of the motor is obtained by correcting the calculated value based on this loss value.

The loss value is stored in the form of a three-dimensional table by measuring the torque of the motor in advance with the induced voltage of the armature and the rotation speed of the motor as parameters.

When the motor is operating, the calculated value of the torque is corrected by referring to this table based on the induced voltage of the armature and the rotation speed of the motor measured for the motor. When the parameters of the three-dimensional table do not match the measured values, the parameters are stored in the three-dimensional table and are close to the measured values, and interpolation is performed to interpolate the calculated torque value. use.

Further, accurate torque control of the motor is performed on the basis of the corrected effective torque of the motor obtained as described above. By applying the torque measurement and torque control of the motor as described above to the dynamometer, an accurate constant torque load is applied to the measurement target.

[0027]

EXAMPLES Examples of the present invention will be described below. Figure 1
It is a figure which shows the structure of the dynamometer which applied the torque calculation control apparatus 1 of this invention. For example, as shown in FIG. 1, the torque calculation control device 1 of the present invention torque-controls the motor 7 via the operation control device 6 and applies a predetermined constant torque load set from the terminal 5 to the automobile 81. The present invention is applied to a dynamometer for measuring fuel consumption, exhaust gas and the like of the automobile 81.

FIG. 2 is a diagram showing a configuration of a portion related to torque control of the dynamometer shown in FIG. In FIG.
The torque calculation control device 1 calculates an effective torque of the motor 7 and controls the operation control device 6 based on the value of the torque to perform torque control or the like on the motor 7.

The operation control device 6 is, for example, a thyristor Leonard device, and controls the firing angle of the thyristor of the operation control device 6 based on the control information from the torque calculation control device 1 to control the motor 7. The motor 7 is a DC motor to be controlled by the torque calculation control device 1.

The commutating pole 71 of the motor 7 is connected in series to the main pole (not shown) of the armature of the motor 7 and cancels the armature magnetomotive force. In the present invention, the commutating pole 71 is used to correct the copper loss when calculating the induced voltage of the main pole.

The resolver 61 detects the rotation angle of the motor 7. The torque calculation control device 1 calculates the number of rotations of the motor 7 per unit time based on this rotation angle. The first voltmeter 62 measures the voltage of the commutating pole 71 and inputs it to the torque calculation control device 1. The second power meter 63 measures the voltage of the armature and inputs it to the field controller 65 and the torque calculation controller 1. The power meters 62 and 63 may be preceded by a voltage divider circuit composed of resistors so that the voltage applied to the voltmeters 62 and 63 can be appropriately lowered.

The ammeter 64 measures the current flowing through the armature of the motor 7 and inputs it to the torque calculation control device 1. FIG. 3 is a diagram showing a configuration of the field controller 65 and its peripheral portion. The field controller 65 is a device that controls the current flowing through the field coil 72 of the motor 7 based on the voltage of the armature, and is used when generating the loss data storage table 11 described later.

FIG. 4 is a diagram for explaining the control of the field current by the field controller 65. The relationship between the rotational speed N, the terminal voltage of the armature V _a, and the field current I _f of the motor 7 4
As shown in. The field controller 65 constantly monitors the voltage of the voltmeter 62, and the rotation speed of the motor 7 increases so that the terminal voltage (V _a ) of the armature exceeds the preset field weakening start voltage (V _an ). intoxicated to, decreasing the value of the field current I _f (squeeze). Then, when the motor 7 is controlled so that the rotation speed is constant, the field current I _f
The field magnetic flux density φ decreases due to the decrease of the magnetic field, and the terminal voltage V _{a of the} armature decreases according to the following equation.

[Equation 1] V _a ∝φN (1)

[0034] When the terminal voltage V _a of the armature is reduced, the field control device 65 returns to the original again field current I _f. Therefore, since the field magnetic flux density φ also returns to the original value, the armature terminal voltage also returns to the original value from Equation 1, and the terminal voltage of the armature eventually becomes

## EQU2 ## V _a ≈V _an (2)

By keeping the rotation speed of the motor 7 constant by the speed control device 15 described later and by using the field control device 65, the terminal voltage V _a of the armature can always be kept constant. Further, the terminal voltage V _a of the armature can be set to an arbitrary value by changing the setting of the field weakening voltage.

FIG. 5 is a diagram showing the configuration of the torque calculation control device 1 of the present invention. The torque calculation circuit 10 calculates the rotation speed N of the motor 7, the armature induced voltage E of the motor 7, and the torque of the motor 7 based on the measured values of the resolver 61, the voltmeters 62 and 63, and the ammeter 64. .

The loss data storage table 11 measures the armature induced voltage E and the rotation speed of the motor 7 as parameters at constant intervals by previously rotating the motor 7 at a constant plurality of rotation speeds by the field controller 65. The calculated torque conversion value T _LOSS of the loss is stored in the form of a three-dimensional table.
The loss data storage table 11 includes a torque calculation circuit 10
The rotation speed N and the armature induced voltage E calculated in
The loss data storage table 11 inputs the torque conversion value T _LOSS of the corresponding loss as it is to the subtraction circuit 12 when the stored parameters match these.

Lost data storage if these do not match
In the table 11, for example, the following interpolation is performed.
The interpolation result is input to the subtraction circuit 12. torque
The rotation speed x of the motor 7 calculated by the arithmetic circuit 10 and the electric machine
Loss T corresponding to child induced voltage y_LOSSxyAsk for. Loss
The following four parameters stored in the data storage table 11
Starter T₁₁, T _{twenty one}, T₁₂, T_{twenty two}Within the range of (N₁<X <N
₂, E₁<Y <E₂). T₁₁: (N₁, E₁, T_LOSS11), T_{twenty one}: (N₂，
E₁, T_LOSS21), T₁₂: (N₁, E₂, T_LOSS12),
T_{twenty two}: (N₂, E₂, T_LOSS22), But N₁, N₂
As a parameter in the loss data storage table 11
The number of revolutions of the motor 7 to be stored, E₁, E₂Is the loss
Stored in the data storage table 11 as a parameter
Armature induced voltage of the motor 7, T_LOSS11~ T_LOSS22Is
Torque conversion value T of loss corresponding to these parameters
_LOSSIs. For convenience of explanation, treat these as vectors
U

First, the loss data storage table 11 determines that the rotation speed x and the armature induced voltage y are within these ranges. Next, the following two vectors T _y1 and T _y2 are obtained.

## _EQU3 ## T _y1 = ((E ₂ −y) T ₁₁ + (y−E ₁ ) T ₁₂ ) / (E ₂ −E ₁ ) ... (3)

(4) T _y2 = ((E ₂ −y) T ₂₁ + (y−E ₁ ) T ₂₂ ) / (E ₂ −E ₁ ) ... (4)

Next, the following calculation is performed on these vectors.

T _xy = ((N ₂ −x) T _y1 + (x−N ₁ ) T _y2 ) / (N ₂ −N ₁ ) ... (5) where,

[ _Equation 6] T _xy = (x, y, T _LOSSxy ) (6) Note that these calculations may be performed by the torque calculation circuit 10.

The subtraction circuit 12 subtracts the torque conversion value T _LOSS of the above-mentioned loss input from the loss data storage table 11 from the torque calculated by the torque calculation circuit 10 to correct it, and the torque control circuit 13 and Input to the display interface circuit 14. The torque control circuit 13 generates a control signal for the operation control device 6 based on the corrected torque value input from the subtraction circuit 12 and the torque setting value. The display interface circuit 14 displays the corrected torque value, the rotation speed of the motor 7, and the like on the display device.

The speed control device 15 is used when creating a three-dimensional table of the loss data storage table 11, and controls the field control device 65 to rotate the motor 7 at a constant speed. The communication control circuit 16 controls communication with the terminal 5 and sets information for the torque calculation control device 1 set via the terminal 5 or torque measurement result information output from the torque calculation control device 1 to the terminal 5. Input and output.

Each part of the torque calculation control device 1 described above is composed of separate hardware for each part, or is composed of a DSP or the like, and is structured as software on a computer that performs high-speed calculation. It does not matter whether or not

The operation of the torque calculation control device 1 and the dynamometer using the same will be described below. First, calculation of effective torque of the motor 7 by the torque calculation circuit 10 and control of the motor 7 using this value will be described. When the torque of the motor 7 is set in the torque calculation circuit 10 via the terminal 5 and the communication control circuit 16, the torque calculation circuit 1
0 inputs this value to the torque control circuit 13 and controls the torque control circuit 13 to start the rotation of the motor 7.

The rotation angle of the motor 7 is input to the torque calculation circuit 10 via the resolver 61, and the torque calculation circuit 1
0 calculates the rotation speed N and the angular velocity ω of the motor 7 based on this value. In addition, voltmeters 62 and 63, ammeter 64
The armature induced voltage of the motor 7 is calculated as follows based on the measured value of The armature of the motor 7 is composed of a main pole (not shown) and a compensating pole 71, and the induced voltage of the main pole is corrected for copper loss based on the terminal voltage of the compensating pole 71.

The torque T of the motor 7 is defined by the following equation.

[Equation 7] T = P / ω = E · I _a / ω (7) Here, P is the electric power of the motor 7, ω is the angular velocity of the motor 7, E is the induced voltage of the main pole, and I _a is It is the current of the main pole.

The induced voltage on the main pole is expressed by the following equation.

Equation 8] _{E = V a '-R a ·} I a -L a · dI a / dt-2V b ··· (8) where, V _a' is the terminal voltage of the main poles, of the formula Have a relationship.

V _a '= V _a −V _ip , (9) Further, _Ra is a DC resistance component of the main pole, I _a is a current of the main pole,
L _a is the reactance component of the main pole, V _ip is the terminal voltage of the auxiliary pole 71, and V _b is the voltage drop of one brush of the main pole.

Here, the voltage V_aVoltmeter 63
Pressure V_ipThe voltmeter 62 indicates that the current I _aIs the ammeter 64
And the angular velocity ω is calculated as described above, and
Reactance component L_aIs pre-measured and known
There is. Also, the reactance voltage L_a・ DI_a/ Dt
Therefore, the value of the reactance component and the continuous current I_aThe value of the
Can be calculated from the following equation.

Equation 10] _{dI a / dt = (I ak} -I ak-1) / Δt ··· (10) However, I _ak, a k-th I _ak-1, and, the k-1 th (k is (Integer) is the value of the current I _a at the time of measurement. However, as described above, the DC resistance R _a changes with the heat generation of the motor 7, and is unknown.

Here, the DC resistance R _a is approximated and estimated as follows.

[Number 11] _{R a · I a = k (} V ip -L ip · dI a / dt) ··· (11) Here, k is an unknown factor. The reason why this approximation holds is that since the same current I _a flows through the main pole and the auxiliary pole 71, there is a proportional relationship between the temperatures of the main pole and the auxiliary pole 71, and therefore the coefficient k is set before the operation of the motor 7. The DC resistance R _a can be approximated with high accuracy by obtaining it.

A method of obtaining this coefficient k will be described below. First, the field current of the motor 7 is cut off, and when the motor 7 does not rotate, the motor 7 has currents I ₁ and I of two or more values.
₂ and the main pole terminal voltages V _a1 'and V _a2 ' corresponding to the respective current values and the currents I _a1 and I _{a2 of the} motor 7 are applied.
To measure. Here, when the motor 7 rotates due to the residual magnetic flux, it is necessary to fix the rotor of the motor 7 and perform the measurement without rotating.

Since the motor 7 is not rotating and the current value is constant, the following equation holds.

(12) dI _a / dt = 0 (12)

[Equation 13] E = 0 (13)

Therefore, the following simultaneous equations hold.

[Formula 14] V _a1 '= R _a · I _a1 + 2V _b (14)

V _a2 '= R _a · I _a2 + 2V _b (15) Therefore, the DC resistance R _a and the voltage drop V _b can be obtained.

From equation 11, the following equation is established.

## _EQU16 ## R _a · I _a1 = kV _ip1 (16) Therefore, the coefficient k can be obtained by the following equation.

[Number 17] _{k = R a · I a1 /} V ip1 ··· (17) In this way, asked the coefficient k in advance, for use in the calculation.

The coefficient k may be calculated and averaged based on a larger number of current values. Further, since the voltage drop _Vb changes depending on the contact state of the brush, it may be possible to change the contact state of the brush to obtain several kinds of values, average them, and use them for calculation.

When the motor 7 is rotating, the equation 11 is substituted into the equation 8 as the following equation.

[Equation 18] E = V _a ′ −k (V _ip −L _ip · dI _a / dt) −L _a · dI _a / dt−2V _b (18) From equation 18, the copper loss of the main pole is calculated. It is estimated and the induced voltage value of the main pole is corrected based on this value.

Further, the torque calculation circuit 10 substitutes the induced voltage E of the main pole obtained by the equation 18 into the equation 7 to calculate the torque of the motor 7. The calculation result is input to the subtraction circuit 12. Further, the armature induced voltage E and the rotation speed N of the motor are input to the loss data storage table 11 and used for correction of the above-described loss torque conversion value T _LOSS .

In the subtraction circuit 12, the torque conversion value T _{LOSS of the} loss output from the loss data storage table 11 as described above is subtracted from this torque value, the iron loss is corrected, and the effective torque of the motor 7 is corrected. Is input to the torque control circuit 13. Further, the value of this effective torque is displayed in real time on the display device via the display interface circuit 14.

The torque control circuit 13 generates a control signal based on the effective torque value of the motor 7 and the torque set value, and inputs the control signal to the operation control device 6. Here, the switch 17 shown in FIG. 5 selects the contact on the (a) side. That is, when the effective torque value of the motor 7 calculated as described above becomes lower than the set value, the operation control device 6 increases the electric power supplied to the motor 7 to increase the torque of the motor 7. To generate the control signal.

On the contrary, when the effective torque value of the motor 7 becomes higher than the set value, the control signal is supplied so that the operation control device 6 reduces the electric power supplied to the motor 7 to reduce the torque of the motor 7. To generate. Here, as a method of generating the control signal of the torque control circuit 13, for example, a ROM in which the relationship between the value of the torque and the generated control signal is stored in advance.
It may be performed by referring to the table, or may be performed by an appropriate calculation.

The operation control device 6 controls the electric power supplied to the motor 7 according to this control signal to rotate the motor 7 with a predetermined torque. Further, the armature induced voltage or the like calculated by the torque calculation circuit 10 is displayed or stored in the terminal 5 via the communication control circuit 16.

The rotation of the motor 7 is transmitted to the automobile 81 through the cylinder shown in FIG. 1 and applies a constant torque load of a set value to the automobile 81. Measuring device 8
0 performs various measurements on the automobile 81.

As described above, the effective torque of the motor 7 in which the copper loss and the iron loss are corrected can be calculated, and the motor 7 can be accurately controlled based on the value of the effective torque. . Further, since the load of the dynamometer, for example, the load of an accurate torque value can be applied to the automobile or the like, it is possible to obtain an accurate measured value of each performance of the automobile.

A method of generating a three-dimensional table of the loss data storage table 11 will be described below. In practice, this three-dimensional form of the table needs to be generated prior to use of the dynamometer.

The loss generated in the motor 7 is caused by the mechanical loss and the iron loss, and the mechanical loss is caused by the friction loss and the wind loss. The friction loss and the wind loss are both functions of the angular velocity ω of the motor 7, as shown in the following equations.

[Formula 19] Friction loss ∝ω (19)

[Expression 20] Wind loss ∝ω ² (20) Here, the following equation holds.

Ω = 2πN (21) Therefore, the mechanical loss is a function of the rotation speed N.

Iron loss is caused by eddy current loss and hysteresis loss. The eddy current loss and the hysteresis loss are functions of the magnetic flux density B and the rotation speed N, as shown by the following equation.

[Equation 22] Eddy current loss ∝B ² · N ²・ ・ ・ (22)

[Equation 23] Hysteresis loss ∝B ^1.6・ N ~ B ² · N (23) Since the magnetic flux φ, the magnetic flux density B, and the armature induced voltage E have the following relationship, the iron loss eventually becomes a function of E and the rotation speed N.

[Equation 24] B = φ / S (24) where S is an effective area.

[0066]

[Equation 25] E = kφN (25) where k is a proportional constant. This relationship is expressed by the following equation.

[ _Expression 26] T _LOSS = f (E, N) (26) Therefore, the torque conversion value T _LOSS of the loss can be _{tabulated using} the rotation speed N and the armature induced voltage E as parameters.

First, the switch shown in FIG. 5 is selected to the (b) side, the speed control device 15 and the operation control device 6 are connected, and the motor 7 is operated at a constant speed. Resolver 61, voltmeter 62,
The rotation angle of the motor 7, each voltage value, and the current value measured by 63 and the ammeter 64 are input to the torque calculation circuit 10, and the torque is calculated as described above. Since the three-dimensional table of the loss data storage table 11 has not been generated yet, the torque value is set as the torque conversion value T _LOSS of the loss without correction of the loss, and the torque calculation circuit 10 and the loss data in FIG. It is stored together with the corresponding parameters as indicated by the dotted lines between the storage tables 11.

The rotation speed is set in the speed control device 15 as described above. The value of the armature induced voltage E at the same rotation speed is changed by changing the field weakening voltage of the field controller 65. That is, the induced voltage of the armature is changed by changing the set value of the magnetic field weakening voltage to, for example, the voltages V _{CN1 to} V _CN2 as shown in FIG. 6 while keeping the rotation speed of the motor 7 constant by the speed control device 15. Then, the torque conversion value T _LOSS of the loss corresponding to the induced voltage of the armature is calculated.

FIG. 7 shows 3 of the loss data storage table 11.
It is a figure explaining the content of the table of a dimension form. As shown in FIG. 7, the torque conversion value T of the loss is set in this table using the armature induced voltage E and the rotation speed of the motor 7 as parameters.
_LOSS is remembered. In addition, it is preferable that the parameters have equal intervals.

As described above, according to the torque calculation control device 1 of the present invention and the dynamometer using the same, it is possible to accurately control the change in copper loss occurring in the motor 7 and the effects of iron loss and mechanical loss. It is possible to measure the effective torque value of the motor 7, and it is possible to perform accurate torque control for the motor 7 based on this accurate torque value.

Further, since it is possible to apply a load having an accurate torque value to the object to be measured, it is possible to accurately obtain each performance of the automobile or the like. The torque calculation control device 1
Shows good performance when used not only for dynamometers but also for control of general motors. In addition to the embodiments described above,
The present invention can have various configurations, for example, as shown as a modified example in the embodiment.

[0072]

As described above, according to the present invention, it is possible to correct the iron loss and the like of the calculated torque value of the motor, so that the influence thereof can be eliminated and accurate measurement can be performed. . Also, based on the value of this torque,
It is possible to perform accurate torque control on the motor. Furthermore, when the present invention is used in a dynamometer, it is possible to apply a load of an accurate torque value to a measurement target,
An accurate measurement result can be obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a dynamometer to which a torque calculation control device of the present invention is applied.

FIG. 2 is a diagram showing a configuration of a portion related to torque control of the dynamometer shown in FIG.

FIG. 3 is a diagram showing a configuration of a field control device and its peripheral portion.

FIG. 4 is a diagram illustrating control of a field current by a field control device.

FIG. 5 is a diagram showing a configuration of a torque calculation control device of the present invention.

FIG. 6 is a diagram showing a field weakening voltage set in a field controller when a three-dimensional table of a loss data storage table is generated.

FIG. 7 is a diagram illustrating contents of a three-dimensional format table of a loss data storage table.

FIG. 8 is a diagram showing a configuration of a conventional torque control device that controls torque of a DC motor.

FIG. 9 is a rotation speed ω and a loss value T of a DC motor used to correct a calculated torque value in a conventional torque control device.
It is a figure which shows the relationship of _LOSS .

FIG. 10 is a diagram showing hysteresis generated between a field current I _f and a field magnetic flux φ.

[Explanation of symbols]

 1 ... Torque calculation control device 10 ... Torque calculation circuit 11 ... Loss data storage table 12 ... Subtraction circuit 13 ... Torque control circuit 14 ... Display interface circuit 15 ... Speed control device 16 ... Communication control circuit 17 ... Switch 5 ... Terminal 6 ... Operation control device 61 ... Resolver 62, 63 ... Voltmeter 64 ... Ammeter 65 ... Field control device 7 ... Motor 71 ... Complementary pole 72 ... Field coil

Claims (8)

[Claims] 1. An armature current and a terminal voltage of an operating motor are measured, an induced voltage of the armature is calculated based on these, and a rotation angle of the motor is measured to calculate a rotation speed thereof. A torque of the motor is calculated based on the induced voltage and the rotation speed, and a torque conversion value of the motor loss calculated in advance corresponding to the induced voltage and the rotation speed is subtracted from the calculated torque. A torque measurement method that corrects the torque. 2. The torque conversion value of the loss is obtained by rotating the motor at a plurality of predetermined rotation speeds, measuring a current and a terminal voltage of the armature at each rotation speed, and based on these, measuring the armature. Is calculated based on the induced voltage and the predetermined rotation speed, stored in association with the induced voltage and the rotation speed, the induced voltage when calculating the torque conversion value of the loss The setting is performed by comparing a predetermined set voltage with the terminal voltage of the armature, and weakening the field current when the terminal voltage of the armature reaches the set voltage, and When the induced voltage of the armature and / or the number of revolutions does not match the stored value, the electric machine of the motor in operation is based on the stored torque conversion value of the loss. Induced voltage, and the torque measuring method according to claim 1, characterized by a function interpolating the torque corresponding value of the loss corresponding to the rotation speed. 3. A measuring means for measuring an armature current of an operating motor, a terminal voltage of the armature, and a rotation angle of the motor, and the armature based on the current and the terminal voltage of the armature. Calculating means for calculating the induced voltage of the motor and calculating the rotation speed of the motor based on the rotation angle; torque calculating means for calculating the torque of the motor based on the induced voltage and the rotation speed; A torque measuring device, comprising: a correction unit that corrects by subtracting a torque conversion value of the loss of the motor calculated in advance corresponding to the voltage and the rotation speed from the calculated torque. 4. A rotation speed control means for rotating the motor at a predetermined rotation speed, and a table, wherein the rotation speed control means causes the motor to rotate at a plurality of predetermined rotation speeds. Measure the current and terminal voltage of the armature by the measuring means in the number, based on the value of the current and terminal voltage of the armature, the induced voltage of the armature is calculated by the calculating means, the induced voltage and The torque conversion value of the loss is calculated based on the predetermined rotation speed, and the torque conversion value of the loss is stored in the table in association with the induced voltage and each rotation speed. The torque measuring device according to claim 3. 5. A predetermined set voltage is compared with a terminal voltage of the armature, and when the terminal voltage of the armature reaches the set voltage, the field current of the motor is weakened to set the induced voltage. The torque measuring device according to claim 4, further comprising an induced voltage setting unit, wherein the induced voltage is set by the induced voltage setting unit when the torque conversion value of the loss is calculated. 6. The torque calculation means or the table is provided when the induced voltage and / or the rotation speed of the motor in operation do not match the value stored in the table. The torque-converted value of the loss corresponding to the induced voltage and the rotational speed of the operating motor is functionally interpolated based on the torque-converted value of the loss stored in. Torque measuring device. 7. A measuring means for measuring an armature current of an operating motor, a terminal voltage of the armature, and a rotation angle of the motor, and the armature based on the current and the terminal voltage of the armature. Calculating means for calculating the induced voltage of the motor and calculating the rotation speed of the motor based on the rotation angle; torque calculating means for calculating the torque of the motor based on the induced voltage and the rotation speed; Compensation means for compensating by subtracting a torque conversion value of the loss of the motor calculated in advance corresponding to the voltage and the rotational speed from the calculated torque, and speed control for the motor based on the corrected torque, And a torque control device having a motor control means for performing torque control or one of them. 8. A measuring means for measuring an armature current of an operating motor, a terminal voltage of the armature, and a rotation angle of the motor, and the armature based on the current and the terminal voltage of the armature. Calculating means for calculating the induced voltage of the motor and calculating the rotation speed of the motor based on the rotation angle; torque calculating means for calculating the torque of the motor based on the induced voltage and the rotation speed; Compensation means for compensating by subtracting a torque conversion value of the loss of the motor calculated in advance corresponding to the voltage and the rotational speed from the calculated torque, and speed control for the motor based on the corrected torque, And a motor control means for performing torque control or one of them, and speed control and / or torque control for the motor, or any one of It was carried out, dynamometer and a means for applying a load to be measured.